Research on Manipulators Motion Planning with HDCS-RRT*Algorithm Applied to Obstacle Avoidance in 3D Space
To solve the problems in the application of RRT*algorithm in the process of obstacle avoidance motion planning for multi-DOF manipulators in 3D space,including low planning efficiency,large memory consumption and unstable planning result,a heuristic dynamic constrained sampling RRT*algorithm(HDCS-RRT*)is proposed in this paper.The algorithm devises a strategy of heuristic dynamic sampling domain,introduces the idea of goal-biased approach towards bounded to improve the convergence speed;it develops an adaptive node generation mechanism to adjust the generation mode of new nodes according to the obstacle environment,improves the stability of the algorithm;and the path costs are further optimized through redundant point detection.Simulation and experimental results show that the improved algorithm has faster planning,good adaptability in narrow areas,and can generate better motion paths with lower memory consumption and shorter path planning time than the RRT*algorithm.
motion planningHDCS-RRT*heuristic dynamic sampling domainadaptive node generation mechanismredundant point detection
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